Publications associées à Octopus-Inspired Swimming Robot with Web-Coupled Multi-Arm Coordination

Publications associées (14)

A smoothed particle hydrodynamics framework for fluid simulation in robotics

Auke Ijspeert, Alessandro Crespi, Jonathan Patrick Arreguit O'Neill

Simulation is a core component of robotics workflows that can shed light on the complex interplay between a physical body, the environment and sensory feedback mechanisms in silico. To this goal several simulation methods, originating in rigid body dynamic ...

Elsevier2025

Gazebo Fluids: SPH-based simulation of fluid interaction with articulated rigid body dynamics

Auke Ijspeert, Wei Wang, Jonathan Patrick Arreguit O'Neill

Physical simulation is an indispensable component of robotics simulation platforms that serves as the basis for a plethora of research directions. Looking strictly at robotics, the common characteristic of the most popular physics engines, such as ODE, DAR ...

IEEE2022

Crash test-based assessment of injury risks for adults and children when colliding with personal mobility devices and service robots

Aude Billard, Diego Felipe Paez Granados

Autonomous mobility devices such as transport, cleaning, and delivery robots, hold a massive economic and social benefit. However, their deployment should not endanger bystanders, particularly vulnerable populations such as children and older adults who ar ...

Nature Publishing Group2022

Wireless Electrohydrodynamic Actuators for Propulsion and Positioning of Miniaturized Floating Robots

Vito Cacucciolo

Autonomous soft robots require compact actuators generating large strokes and high forces. Electro-fluidic actuators are especially promising, they combine the advantages of electroactive polymers (low-power consumption, fast response, and electrical power ...

WILEY2021

Comparative dynamic flight stability of insect-inspired flapping-wing micro air vehicles in hover: Longitudinal and lateral motions

Hoang Vu Phan

In this paper, we compare the characteristics of hovering stability for two insect-inspired flapping-wing micro air vehicles (FW-MAVs) with different strategies to generate control moments for the longitudinal and lateral attitude controls. The two robots ...

2021

Design of High Torque Density Permanent Magnet Motors and Drives for Collaborative Robot Applications

Yves Perriard, Minh Trung Duöng

This paper presents designs of the surface-mounted permanent magnet (SPM) motor and Vernier motor for the Collaborative Robot (Cobot) applications. Design constraints and operating conditions are referred from a commercial 12-slot 10-pole SPM motor using i ...

IEEE2021

Apparatus for treating excess intraocular fluid having an elastic membrane

Nikolaos Stergiopoulos, Constantinos Stergiopulos

A device (100) is provided for treating diseases that produce elevated intraocular pressures, such as glaucoma, wherein the device (100) includes a housing shell (101) defining a cavity (107) between a first end (102) and a second end (104) of the housing ...

2020

Scanning PIV of turbulent flows over and through rough porous beds using refractive index matching

Christophe Ancey, Gauthier Paul Daniel Marie Rousseau

This paper presents image velocimetry measurements on turbulent flows adjacent to a permeable bed made of randomly packed glass particles. For measuring flow velocities inside the bed, the refractive index of the glass particles was matched with that of th ...

SPRINGER2020

The Reduced Immersed Method for Real-Time Fluid-Elastic Solid Interaction and Contact Simulation

Christopher Brandt

We introduce the Reduced Immersed Method (RIM) for the real-time simulation of two-way coupled incompressible fluids and elastic solids and the interaction of multiple deformables with (self-)collisions. Our framework is based on a novel discretization of ...

2019

Compliant universal grippers as adaptive feet in legged robots

Auke Ijspeert, Simon Lukas Hauser, Mehmet Hasan Mutlu

This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...

2018

Bioinspired Motor Control for Articulated Robots [From the Guest Editors]

Auke Ijspeert

Institute of Electrical and Electronics Engineers2016

Stability Considerations for Variable Impedance Control

Aude Billard, Klas Jonas Alfred Kronander

Impedance control is a commonly used control architecture for robotic manipulation. For increased flexibility, the impedance can be programmed to vary during the task. This has important implications on the stability properties of the control system, which ...

Ieee-Inst Electrical Electronics Engineers Inc2016

Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Auke Ijspeert, Salman Faraji, Soha Pouya

In this paper, we formulate a novel hierarchical controller for walking of torque controlled humanoid robots. Our method uses a whole body optimization approach which generates joint torques, given Cartesian accelerations of different points on the robot. ...

2014

Legged locomotion with spinal undulations

Konstantinos Karakasiliotis

Legged locomotion with spinal undulations is a topic that has not received much attention yet in robotics, though, vertebrates depend on both their limbs and spine to move efficiently in their environments. In this thesis, my aim is to get more insights in ...

EPFL2013